renting a GPS from the car rental company seems very expensive at €110/week
It sure does.
is there a better/cheaper alternative?
Several. Lots of folks just rely on a phone (this may or may not be problematic, depending on many factors). Personally, I bought a Garmin GPS unit, including "lifetime" map updates for Europe and North America; got it several years ago from Costco for not much more than you would pay for your one-week rental. I've used it everywhere from Ireland to Italy to Latvia to Japan to Mexico and it's a super useful tool (it's also good to be familiar with your GPS before you land in a foreign country...trying to learn/use/understand an agency-supplied, in-dash GPS unit in Lithuanian or Japanese is not easy, believe me, I've tried). I always bring my GPS with updated maps/database from home, it's soooo much easier.
I also have a phone or two with us, an iPad Mini, all with cellular connectivity so I can use any/all of them and (extremely helpful) cross-reference them for conflicting directions (it's quite common that they disagree...I once saved a trip from collapse by cross-referencing as my built-in car GPS in Japan was sending me on a very indirect route which would have caused me to arrive 2 hours late for the only ferry of the day to my destination...my Garmin GPS correctly directed me to a fast, direct highway straight to that ferry, which I made).
Also, always have a good paper map with you, no matter how many gizmos you have and how much you trust them. And have some general idea where you are headed and what route you will take to get there - don't be one of those people that blindly and blithely follows your GPS into a lake...